CN114189153B - Cascade stability control method and realization device for aerospace distributed power system - Google Patents
Cascade stability control method and realization device for aerospace distributed power system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
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Abstract
The invention relates to the technical field of aerospace secondary power supplies, and discloses a cascade stability control method and an implementation device of an aerospace distributed power supply system. In an aerospace distributed power supply system, a mathematical model of an intermediate converter, a desired value V o * of the output voltage and a desired value I L * of the output current are obtained by acquiring an output voltage V m of a source converter, an input voltage V b and an input current I b of a load converter, an output voltage u o and an inductance current I L of the intermediate converter, and the intermediate converter is controlled according to a controller established based on a PCHD equation. The controlled quantity of the controlled intermediate converters is determined by the state quantity of all converters in the distributed system, so that the response speed and precision of the aerospace distributed power system to the disturbance of each link are greatly improved, and the cascade stability of the aerospace distributed power system is improved.
Description
Technical Field
The invention relates to the technical field of aerospace secondary power supplies, in particular to a cascade stability control method and an implementation device of an aerospace distributed power supply system.
Background
In recent years, in order to reduce power supply loss of an aerospace power supply system and improve efficiency and power supply flexibility of the power supply system, an aerospace secondary power supply system has gradually changed from a traditional single-stage power supply architecture to a two-stage distributed power supply system architecture. The aerospace distributed power supply system is formed by cascading at least one source converter and one load converter. The power supply system is connected with a power supply bus of the spacecraft, and the power supply system is connected with a power supply bus of the spacecraft. .
However, in the cascade structure of the source converter and the load converter, since the output of the source converter is connected with the input of the load converter, the error caused by disturbance on any one side directly affects the other side, so that the whole distributed power system is very sensitive to disturbance, and the stability of the power supply system is greatly reduced. For this purpose, some scholars propose a method of adding a first-stage intermediate converter between the source converter and the load converter, which realizes decoupling of the output of the source converter and the input of the load converter.
Although the anti-interference capability of the distributed system is improved to a greater extent after the intermediate converter is added, the current control method can only indirectly cope with the state change of the source converter or the load converter caused by disturbance through quantitative control of the output voltage and the output current of the intermediate converter. Therefore, the current control method has low response speed and low tracking precision. On the one hand, when the front-stage converter encounters abnormal disturbance, the current control method needs to feed back the abnormal disturbance condition to the controller after the output change of the intermediate converter, so that the disturbance of the abnormality of the front-stage converter on the bus voltage of the spacecraft cannot be cut off rapidly, the power supply quality of the primary bus voltage of the spacecraft is affected when the disturbance is serious, and the power supply reliability of the spacecraft is reduced. On the other hand, as the load of the spacecraft and the energy demand of the electric equipment change rapidly, the output energy of the load converter changes greatly, the current control method still cannot respond timely and accurately, and the load is easy to work abnormally for a long time. Therefore, the research on the cascade stability control method and the realization device of the aerospace distributed power system has practical significance.
Disclosure of Invention
The invention provides a cascade stability control method and an implementation device for an aerospace distributed power system. In order to achieve the above purpose, the technical scheme of the invention is as follows:
A cascade stability control method of an aerospace distributed power system comprises the following steps:
Obtaining an inductance current i L of the intermediate converter and an output voltage u 0 of the intermediate converter;
Obtaining an output voltage V m of the source converter;
Obtaining input voltage V b and input current I b of a load converter;
and establishing a mathematical model of the intermediate converter based on a PCHD equation according to a state space average model of the intermediate converter, and establishing a controller for the converter. Inputs of the intermediate converter are i L and u o, and outputs of the controller are switching values d 1 and d 2;
The establishing the controller according to the intermediate converter and PCHD equation includes:
working mode analysis is carried out on the intermediate converter, and a state space average model is established:
l is the inductance of the intermediate converter inductance, C is the capacitance of the intermediate converter output capacitance, and R is the load equivalent resistance of the intermediate converter.
Because the converter energy storage device is inductance and capacitance C, the state space average model is converted according to the energy storage angle definition [ x 1 x2]T＝[LiLCuo]T ] to obtain a mathematical model based on PCHD equation:
In the middle of
In order to quickly converge the energy of the system error caused by external disturbance to 0, the impedance R a is injected into the PCHD equation model to obtain the control law of the controller:
Obtaining an expected value I L * of the inductance current of the intermediate converter according to the obtained output voltage V m of the source converter, and obtaining energy required by the distributed power system to be provided for a load according to the obtained input voltage V b and input current I b of the load converter, so that the expected value u 0 * of the output voltage of the intermediate converter;
Establishing a controller according to the control law and the expected values of the current and the voltage, wherein the output of the controller is as follows:
i L and u 0 are state values of the inductor current and the output voltage of the intermediate converter at a certain moment, the switching values d 1 and d 2 are the output of the controller, r a1,ra2 is the impedance of the controller injected into the distributed power system, and i L * and u o * are expected values of the inductor current and the output voltage of the intermediate converter.
An implementation device of a cascade stability control method of an aerospace distributed power system, comprising:
The first sampling module is used for acquiring the inductance current i L of the intermediate converter and the output voltage u o of the intermediate converter;
the second sampling module is used for acquiring the output voltage V m of the source converter;
The third sampling module is used for obtaining the input voltage V b and the input current I b of the load converter;
the controller module is used for realizing the control law established by the PCHD model of the intermediate converter, and comprises the following components:
The expected value calculation unit is used for obtaining an expected value i L * of the inductance current of the intermediate converter according to the obtained output voltage V m of the source converter, obtaining energy required by the distributed power supply system and provided for a load according to the obtained input voltage V b and input current i b of the load converter, and further obtaining an expected value u o * of the output voltage of the intermediate converter;
a system impedance injection unit for injecting impedance r a1,ra2 into the system;
a control processing unit for calculating the switching amounts d 1 and d 2 according to the i L、iL *、uo、uo *、ra1、ra2:
The driving unit is used for converting the switching values d 1 and d 2 into PWM switching signals and driving a switching tube of the intermediate converter to execute on or off actions.
The beneficial effects are that:
According to the scheme of the invention, the cascade stability control method and the implementation device of the aerospace distributed power system are provided, inductance current and output voltage of an intermediate converter are obtained as controlled quantities, the output voltage of a source converter, the input voltage and current of a load converter are obtained in real time, expected values of the controlled quantities are calculated, and the controlled quantities of the intermediate converter are controlled through the controlled quantities according to the output switching quantities of a controller established based on a PCHD equation. The sampling part of the implementation device is realized by a common analog circuit, the controller part is realized by digital circuit programming, and the device is simple and easy to realize. In summary, the control method and the implementation device feed back the output quantity change of the source converter and the energy change of the load converter caused by external disturbance to the controller of the intermediate converter in real time, so that the system has high response speed to the disturbance, and can better ensure the power supply quality of the bus of the spacecraft and ensure the energy supply of various loads and power utilization systems of the spacecraft.
Drawings
Fig. 1 schematically illustrates an application scenario of a cascade stability control method of an aerospace distributed power system according to an embodiment of the present invention;
FIG. 2 schematically illustrates a schematic diagram of an intermediate converter of a cascade stability control method for an aerospace distributed power system according to one embodiment of the invention;
FIG. 3 schematically illustrates an operational mode diagram of an intermediate converter of a cascaded stability control circuit of an aerospace distributed power system according to one embodiment of the present invention;
FIG. 4 schematically illustrates a flow chart of a method of cascade stability control of an aerospace distributed power system according to one embodiment of the invention;
FIG. 5 schematically illustrates a schematic structural diagram of an implementation device of a cascade stability control method for an aerospace distributed power system according to an embodiment of the present invention;
FIG. 6 schematically illustrates a schematic structural diagram of an aerospace distributed power system according to one embodiment of the invention;
fig. 7 schematically illustrates a schematic diagram of the cascade stability control effect of an aerospace distributed power system according to one embodiment of the invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
The present invention will be described in detail below with reference to the drawings and the specific embodiments, which are not described in detail herein, but the embodiments of the present invention are not limited to the following embodiments.
Fig. 1 is an application scenario diagram of a cascade stability control method of an aerospace distributed power supply system according to an embodiment of the invention, in the aerospace distributed power supply system, a primary bus is provided by a solar photovoltaic cell array or a storage battery pack of a spacecraft, isolated conversion is performed by a source converter, an intermediate converter is entered and controlled by a controller, required voltage and current are provided for a load converter by the intermediate converter, decoupling of output of the source converter and input of the load converter is achieved, and the load converter directly provides required energy for a load and electric equipment of the spacecraft.
The intermediate converter mainly comprises energy storage elements such as an inductor, a capacitor and the like, and controlled switching devices such as a switching tube and the like, and has various structural forms. In a certain time period, the intermediate converter has multiple working modes along with the on and off of the two switching tubes, as shown in fig. 3. According to the working mode of the intermediate converter, the mathematical model of the intermediate converter can be obtained as follows:
wherein d 1 and d 2 are switching values of the first switching tube and the second switching tube of the intermediate converter respectively. D 1 =1 when the first switch is on, d 1 =0 when the first switch is off, d 2 =1 when the second switch is on, d 2＝0.iL is the inductor current of the intermediate converter when the second switch is off, u o is the output voltage of the intermediate converter, and V m is the output voltage of the source converter.
Based on the application scene shown in fig. 1 and the intermediate converter shown in fig. 2, the cascade stability control method of the aerospace distributed power system shown in fig. 4 provided by the embodiment of the invention is established, and comprises the following steps:
Step S1, obtaining an inductance current i L of the intermediate converter and an output voltage u o of the intermediate converter, obtaining an output voltage V m of the source converter, obtaining an input voltage V b of the load converter and an input current i b;
step S2, establishing a mathematical model of the intermediate converter based on a PCHD equation;
And step S3, a controller is established according to the mathematical model based on the PCHD equation, and the intermediate converter is controlled to realize the control of cascade stability of the aerospace distributed power system.
Step S2 establishes a mathematical model of the intermediate converter based on the PCHD equation, including:
Step S2-1, aiming at the formula (1), taking the controlled quantity inductance current i L and the output voltage u o of the intermediate converter as state variables [ x 1 x2]T＝[iL uo]T ], and applying a state space average method to obtain a state space average mathematical model of the intermediate converter as follows:
Since the inductance L of the converter inductance and the capacitance C of the output capacitor are quantitative, [ x 1 x2]T＝[LiL Cuo]T ] is defined as a new state variable, and equation (2) is changed to:
step S2-2, writing the formula (3) into a standard form of a PCHD equation, and obtaining a mathematical model of the example intermediate converter based on the PCHD equation:
In the middle of
And step S3, a controller is established according to the mathematical model based on the PCHD equation, and the intermediate converter is controlled to realize the control of cascade stability of the aerospace distributed power system. Comprising the following steps:
Step S3-1, a controller based on PCHD equation is initially established for the intermediate converter. Comprising the following steps:
because the energy storage element of the intermediate converter is inductance and capacitance, the corresponding stored energy is Defining an energy storage function/>Then there is/>Deriving the energy storage function over time to obtain/>Obviously/>Characterizing the rate of change of energy over time, substituting formula (4), the method can obtain:
Error caused by interference to the system, defined as x e, error energy function Defining the expected value of the system as x *, it is apparent that at any time there is x=x *-xe, then equation (5) can be changed to:
Due to Equation (6) represents the rate of change of the error energy function over time. In order to accelerate the change rate of the error energy and to quickly restore the steady state of the system after being disturbed, the impedance R a is injected into the system, and then the formula (6) can be changed into the following formula through arrangement:
obviously by setting:
Then equation (7) has The representative error energy H e (x) will gradually converge to 0 and the system will revert to steady state over time. And by adjusting the injected impedance R a, the speed at which the error energy H e (x) converges to 0 is dynamically adjusted. Therefore, the controller is established for the intermediate converter according to the formula (8), so that the distributed power system can quickly converge error energy, and the anti-interference capability and stability of the system are improved.
Setting the desired value of the inductor current of the intermediate converter according to the embodiment to beFor the output voltage expectation/>, of the intermediate converterEstablishing a PCHD equation-based controller according to equation (4) and equation (8):
and step S3-2, establishing a final controller based on the distributed power system.
Since the inductor current required by the intermediate converter is provided by the output capacitor of the source converter, the expected inductor current of the intermediate converter needs to track the voltage value of the output capacitor of the source converter, and the volt-second balance rule is adopted for the output voltage of the source converter and the inductor current of the intermediate converter, so as to obtain the expected inductor current of the intermediate converter:
Wherein f is the oscillation frequency after cascade connection of the source converter and the intermediate converter, the value is related to the switching frequency f s of the intermediate converter, based on the Middlebrook criterion of the distributed cascade system, f s is more than or equal to 10f, f s =15f is required to be ensured, λ is the voltage ripple rate of the capacitance of the source converter, generally, the smaller the value is, the better, but the smaller λ means the overlarge output capacitance of the source converter, generally, λ=0.4 is required, and the expected inductance current value of the intermediate converter can be obtained:
On the other hand, the energy stored in the output capacitor of the intermediate converter is the output energy of the intermediate converter, which determines the energy supply of the load converter, and therefore the output energy of the intermediate converter is set to track the energy supply of the load converter. Obtaining an expected value of the output voltage of the intermediate converter:
Finally, substituting the formula (11) and the formula (12) into the formula (9) to obtain a final controller:
As can be seen from the formula (13), the controller established by the control method of the present invention controls the switching devices of the intermediate converter to be turned on and off by outputting the switching values d 1 and d 2, thereby realizing the control of the intermediate converter and the distributed system. The switching values d 1 and d 2 of the controlled converters are determined by the state quantities of all converters in the distributed system, so that the response speed and precision of the system to disturbance are greatly improved, and the cascade stability of the aerospace distributed power system is ensured.
The embodiment of the invention provides a device for realizing a cascade stability control method of an aerospace distributed power system, which is shown in fig. 5 and comprises the following steps:
The first sampling module is used for acquiring the inductance current i L of the intermediate converter and the output voltage u o of the intermediate converter;
the second sampling module is used for acquiring the output voltage V m of the source converter;
The third sampling module is used for obtaining the input voltage V b and the input current I b of the load converter;
a controller module for implementing a controller built based on a PCHD model, comprising:
The expected value calculation unit is used for executing the formula (11) and the formula (12), obtaining an expected value I L * of the inductance current of the intermediate converter according to the obtained output voltage V m of the source converter, and obtaining the energy required by the distributed power supply system and provided for the load according to the obtained input voltage V b and input current I b of the load converter, thereby obtaining an expected value u o * of the output voltage of the intermediate converter;
A system impedance injection unit for injecting impedance r a1、ra2 into the system;
A control processing unit for calculating the switching amounts d 1 and d 2 according to the formula (9) based on the i L、iL *、uo、uo *、ra1、ra2;
The driving unit is used for converting the switching values d 1 and d 2 into PWM switching signals and driving a switching tube of the intermediate converter to execute on or off actions.
An example of the present invention schematically shows the structure of an aerospace distributed power system based on the control method and implementation means, by means of figure 6. The first, second and third sampling modules can be realized through a common current sampling circuit and a common voltage sampling circuit, the controller module can realize the control method through programming according to the formula (9), the formula (11) and the formula (12) through a digital circuit, and the analog signals of the sampling modules and the digital signals of the controller are converted through basic AD/DA conversion.
By the control method and the implementation device, the disturbance of each link of the aerospace distributed power system can be responded more quickly, and the cascade stability of the aerospace distributed power system is controlled. The effect achieved by the embodiment of the invention is shown in fig. 7, the output voltage u o of the intermediate converter can rapidly track the change of the output voltage V m of the source converter, and meanwhile, the influence of the change of the current I o required by the load converter on the bus voltage V in of the spacecraft is small, which indicates that the cascade stability control method and the realization device of the aerospace distributed power system have stronger robustness on system disturbance and better realization effect.
The above description is only one embodiment of the present invention and is not intended to limit the present invention, and various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. The cascade stability control method for the aerospace distributed power system is characterized by comprising the following steps of:
Obtaining an inductance current i L of the intermediate converter and an output voltage u o of the intermediate converter;
Obtaining an output voltage V m of the source converter;
Obtaining input voltage V b and input current I b of a load converter;
Establishing a mathematical model of an intermediate converter based on a PCHD (energy dissipation Hamiltonian) equation according to a state space average model of the intermediate converter, and establishing a controller for the converter, wherein the inputs of the intermediate converter are i L and u o, and the output of the controller is the value ranges of switching values d 1, d 2,d1 and d 2 which are 0 or 1;
The establishing the controller according to the intermediate converter and PCHD equation includes:
working mode analysis is carried out on the intermediate converter, and a state space average model is established:
L is the inductance of the intermediate converter inductor, C is the capacitance of the intermediate converter output capacitor, and R is the load equivalent resistance of the intermediate converter;
because the converter energy storage device is inductance and capacitance C, the state space average model is converted according to the energy storage angle definition [ x 1 x2]T＝[LiL Cuo]T ] to obtain a mathematical model based on PCHD equation:
In the middle of
In order to quickly converge the energy of the system error caused by external disturbance to 0, the impedance R a is injected into the PCHD equation model to obtain the control law of the controller:
obtaining an expected value I L * of the inductance current of the intermediate converter according to the obtained output voltage V m of the source converter, and obtaining energy required by the distributed power system to be provided for a load according to the obtained input voltage V b and input current I b of the load converter, so that the expected value u o * of the output voltage of the intermediate converter;
establishing a controller according to the control law, the inductance current expected value and the voltage expected value, wherein the output of the controller is as follows:
i L and u o are state values of the inductor current and the output voltage of the intermediate converter at a certain moment, the switching values d 1 and d 2 are the output of the controller, r a1,ra2 is the impedance of the controller injected into the distributed power system, and i L * and u o * are expected values of the inductor current and the output voltage of the intermediate converter.
2. The device for realizing the cascade stability control method of the aerospace distributed power system is characterized by comprising the following steps of:
The first sampling module is used for acquiring the inductance current i L of the intermediate converter and the output voltage u o of the intermediate converter;
the second sampling module is used for acquiring the output voltage V m of the source converter;
The third sampling module is used for obtaining the input voltage V b and the input current I b of the load converter;
the controller module is used for realizing the control law established by the PCHD model of the intermediate converter, and comprises the following components:
The expected value calculation unit is used for obtaining an expected value i L * of the inductance current of the intermediate converter according to the obtained output voltage V m of the source converter, obtaining energy required by the distributed power supply system and provided for a load according to the obtained input voltage V b and input current i b of the load converter, and further obtaining an expected value u o * of the output voltage of the intermediate converter;
A system impedance injection unit for injecting impedance r a1、ra2 into the system;
The control processing unit is used for calculating the value ranges of the switching values d 1, d 2,d1 and d 2 to be 0 or 1 according to the i L、iL *、uo、uo *、ra1、ra2;
The establishing the controller according to the intermediate converter and PCHD equation includes:
working mode analysis is carried out on the intermediate converter, and a state space average model is established:
L is the inductance of the intermediate converter inductor, C is the capacitance of the intermediate converter output capacitor, and R is the load equivalent resistance of the intermediate converter;
because the converter energy storage device is inductance and capacitance C, the state space average model is converted according to the energy storage angle definition [ x 1 x2]T＝[LiL Cuo]T ] to obtain a mathematical model based on PCHD equation:
In the middle of
In order to quickly converge the energy of the system error caused by external disturbance to 0, the impedance R a is injected into the PCHD equation model to obtain the control law of the controller:
obtaining an expected value I L * of the inductance current of the intermediate converter according to the obtained output voltage V m of the source converter, and obtaining energy required by the distributed power system to be provided for a load according to the obtained input voltage V b and input current I b of the load converter, so that the expected value u o * of the output voltage of the intermediate converter;
establishing a controller according to the control law, the inductance current expected value and the voltage expected value, wherein the output of the controller is as follows:
The driving unit is used for converting the switching values d 1 and d 2 into PWM switching signals and driving a switching tube of the intermediate converter to execute on or off actions.
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